Omron R88M-K User Manual page 558

Appendices
Changing the Control Mode to pp or hm Mode When the Motor Is Running
• When the Halt bit is OFF, the Servomotor comes to an immediate stop if the rising edge of
6040 hex bit 4 (start bit) is not detected when the control mode is changed to pp or hm mode while
the motor is running.
• When the Halt bit is ON, the Servomotor performs the stop operation according to the setting of
the Halt option code (605D hex) if the rising edge of 6040 hex bit 4 (start bit) is not detected when
the control mode is changed to pp or hm mode while the motor is running.
Note Profile position mode (pp) is supported for unit version 2.1 or later.
Precautions in hm Mode
• To disable the stop process using drive prohibition when the control mode changes to hm mode
during Servomotor operation, the Servomotor is momentarily set to an immediate stop regardless
of the detection of the rising edge of 6040 hex bit 4 (start bit). However, when the Halt bit is ON,
the Servomotor stops according to the setting of 605D hex.
• When you change to another operation mode while the motor is running in hm mode (during
homing operation), the operation continues for approx. 2 ms, and the stop operation for drive
prohibition is not executed. Therefore, change the control mode when the Servomotor has
stopped after homing is attained.
Modes of Operation Display
The actual mode of operation can be checked from the Modes of operation display (6061 hex).
The display is as follows depending on the state of the Servo Drive:
Servo Drive status
Servo OFF (not operation enabled state)
Servo ON (operation enabled state)
Not following
commands in the
Controlword
(6060 hex) when the
servo is ON
Deceleration stop in progress due to an error
*1 When Drive Prohibition Input Selection (3504 hex) = 0.
*2 When Undervoltage Error Selection (3508 hex) = 0.
A-8
*1
Drive prohibition
Deceleration stop in
progress due to main
circuit power OFF
Deceleration stop in
progress due to Servo
OFF
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Modes of Operation Display (6061 hex)
0: Not specified
The value that is shown depends on the setting of Modes of
operation (6060 hex).
The value that is shown depends on the setting of Modes of
operation (6060 hex). (The stop process is executed inside the
Servo Drive using a deceleration stop command generated
within the Servo Drive.)
0: Not specified
(Fault reaction active state or Fault state during an error)